joystick

PlayStation DualShock3 and DualShock4 are supported in our system.Both controller are confirmed in Ubuntu16.04

PlayStation DualShock3

Install for wireless connection

Please refer to https://retropie.org.uk/forum/topic/2913/guide-use-qtsixa-on-ubuntu-16-04-and-derivatives

$ sudo apt-get install  pyqt4-dev-tools   libusb-dev libjack-dev libbluetooth-dev python-dbus -y
$ git clone https://github.com/falkTX/qtsixa.git
$ cd qtsixa
$ make
$ sudo make install

Pairing

Connect the controller with host PC via USB cable, and run following command:

$ sudo sixpair

Wireless Connection

Unplug the joystick from the computer, and run following command:

$ sixad --start

Press the PS button in the middle of the joystick and the connection will be activated.

Option: start sixad on boots

edit /etc/rc.local, and add following description before exit 0

sixad --start

Note: if you can not connect with pc even pressing the PS button, please restart the sixad by following command:

$ sixad -r

Common commands:

• start: motor arming (please do this before takeoff)
• corss-left + circle: takeoff (this can be received by robot only after motor arming)
• cross-right + squre: landing
• select (short push): force landing (without xy position control, robot will descend slowly)
• select (long push, > 2.0s): halt (i.e. stop motor immediately )
• triangle: xy(horizontal) velocity control mode
• cross(X): xy(horizontal) position control mode
• cross-down: xy(horizontal) attitude control mode
• left stick vertical: movement in world x axis (only available in velocity/attitude control mode)
• left stick horizontal: movement in world y axis (only available in velocity/attitude control mode)
• left stick vertical + L2: movement in baselink (local) x axis (only available in velocity/attitude control mode)
• left stick horizontal + L2: movement in baselink (local) y axis (only available in velocity/attitude control mode)
• right stick vertical: movement in z axis
• right stick horizontal + push right stick: movement in yaw axis

For more information about ps3joy in ros, please check here

PlayStation DualShock4